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Path Modeling and 3D Robot Visualization for Model-Based Control of Articulated Robots
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SYSNO ASEP 0523840 Document Type C - Proceedings Paper (int. conf.) R&D Document Type O - Ostatní Title Path Modeling and 3D Robot Visualization for Model-Based Control of Articulated Robots Author(s) Belda, Květoslav (UTIA-B) RID, ORCID
Dvořák, K. (CZ)Number of authors 2 Source Title Preprints of the 15th European Workshop on Advanced Control and Diagnosis (ACD 2019). - Bologna : IFAC, 2019 / Zattoni Elena Pages s. 1-16 Number of pages 16 s. Publication form Print - P Action 15th European Workshop on Advanced Control and Diagnosis (ACD 2019) Event date 21.11.2019 - 22.11.2019 VEvent location Bologna Country IT - Italy Event type WRD Language eng - English Country IT - Italy Keywords Siemens NX software ; MATLAB/Simulink 3D Animation Toolbox ; model predictive control ; articulated robots ; virtual reality Subject RIV JD - Computer Applications, Robotics OECD category Robotics and automatic control Institutional support UTIA-B - RVO:67985556 Annotation The paper deals with the three-dimensional (3D) path modeling and visualization used in simulation of model predictive control design of industrial robots-manipulators. A one possible comprehensive procedure is introduced as a specific sequence of the following points: i) path modeling using set of control points with G-Code generation and time-parametrization. ii) construction of photo-realistic 3D virtual reality robot model including surrounding workplace. iii) 3D robot visualization using Virtual Reality Modeling Language VRML V2.0. iv) brief overview of model predictive control design and v) simulation of the control with visualization using prepared 3D virtual reality robot model. This sequence is applied to the one representative of articulated robots – ABB robot IRB 140. Siemens NX Software (points i–iii), and MATLAB/Simulink env. (points iii–v) are proposed as suitable work tools. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2021
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